/usr/include/opencollada/COLLADAFramework/COLLADAFWKinematicsController.h is in opencollada-dev 0.1.0~20140703.ddf8f47+dfsg1-2.
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Copyright (c) 2008-2009 NetAllied Systems GmbH
This file is part of COLLADAFramework.
Licensed under the MIT Open Source License,
for details please see LICENSE file or the website
http://www.opensource.org/licenses/mit-license.php
*/
#ifndef __COLLADAFW_KINEMATICSCONTROLLER_H__
#define __COLLADAFW_KINEMATICSCONTROLLER_H__
#include "COLLADAFWPrerequisites.h"
#include "COLLADAFWUniqueId.h"
#include "COLLADAFWMotionProfile.h"
#include "COLLADAFWPointerArray.h"
#include "COLLADAFWAxisInfo.h"
#include "COLLADAFWTypes.h"
#include "COLLADAFWObject.h"
namespace COLLADAFW
{
/** TODO Documentation */
class KinematicsController : public ObjectTemplate<COLLADA_TYPE::KINEMATICS_CONTROLLER>
{
private:
/** List of the unique ids of the kinematics models used in this controller.*/
UniqueIdArray mKinematicsModelUniqueIds;
/** The axis infos of the joints contained in the kinematics models controlled by this controller.
Not all joints need to to have an axis info. If none is present for a specific joint, the default values
apply.*/
AxisInfoArray mAxisInfos;
/** The motion profile of linear motion.*/
MotionProfile mLinearMotionProfile;
/** The motion profile of angular motion.*/
MotionProfile mAngularMotionProfile;
public:
/** Constructor. */
KinematicsController(const UniqueId& uniqueId);
/** Destructor. */
virtual ~KinematicsController();
/** List of the unique ids of the kinematics models used in this controller.*/
const UniqueIdArray& getKinematicsModelUniqueIds() const { return mKinematicsModelUniqueIds; }
/** List of the unique ids of the kinematics models used in this controller.*/
UniqueIdArray& getKinematicsModelUniqueIds() { return mKinematicsModelUniqueIds; }
/** The axis infos of the joints contained in the kinematics models controlled by this controller.
Not all joints need to to have an axis info. If none is present for a specific joint, the default values
apply.*/
const AxisInfoArray& getAxisInfos() const { return mAxisInfos; }
/** The axis infos of the joints contained in the kinematics models controlled by this controller.
Not all joints need to to have an axis info. If none is present for a specific joint, the default values
apply.*/
AxisInfoArray& getAxisInfos() { return mAxisInfos; }
/** The motion profile of linear motion.*/
const MotionProfile& getLinearMotionProfile() const { return mLinearMotionProfile; }
/** The motion profile of linear motion.*/
void setLinearMotionProfile(const MotionProfile& linearMotionProfile) { mLinearMotionProfile = linearMotionProfile; }
/** The motion profile of angular motion.*/
const MotionProfile& getAngularMotionProfile() const { return mAngularMotionProfile; }
/** The motion profile of angular motion.*/
void setAngularMotionProfile( const MotionProfile& angularMotionProfile) { mAngularMotionProfile = angularMotionProfile; }
/** Creates a clone of the KinematicsController and returns a pointer to it.*/
KinematicsController* clone() const { return FW_NEW KinematicsController(*this); }
private:
/** Disable default copy ctor. */
KinematicsController( const KinematicsController& pre );
/** Disable default assignment operator. */
const KinematicsController& operator= ( const KinematicsController& pre );
};
typedef PointerArray<KinematicsController> KinematicsControllerArray;
} // namespace COLLADAFW
#endif // __COLLADAFW_KINEMATICSCONTROLLER_H__
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